Stamping part offline system

Abstract

The embodiment of the invention provides a stamping part offline system, and relates to the technical field of stamping part production, the system comprises a robot control end, a production control end, a part grabbing mechanical arm and a plurality of carrying robots; the robot control end is used for determining the number of current to-be-carried empty material racks according to the number of the stamping parts needing to be produced currently in the production task and the capacity of the material racks; according to the number of the to-be-carried empty material frames, the carrying robot is controlled to carry the empty material frames from the material frame storage area to a part receiving area corresponding to the stamping part offline station; a carrying robot is controlled to carry the fully-loaded material frame in the part receiving area to a stamping part storage area; the production control end is used for controlling the stamping part production line to produce stamping parts; the part grabbing mechanical arm is used for grabbing the stamping parts which are produced and conveyed to the stamping part offline station into the material frame which is located in the part receiving area and is not fully loaded; and the carrying robot is used for executing a carrying task under the control of the robot control end. According to the scheme, the operation efficiency of stamping part offline can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of stamping parts production, and in particular to a stamping parts offline system. Background Art

[0002] Stamping parts refer to the use of mold pressure to deform sheet metal to obtain parts with certain shapes, sizes and performances.

[0003] When stamping parts are being taken off the production line, they need to be taken out manually from the production line and loaded into the racks, and then manually driven by a forklift, the racks filled with stamping parts are picked up and transported to the designated storage area. Therefore, in the process of taking stamping parts off the production line, a large number of workers are required to perform the work, resulting in low efficiency of the stamping parts off the production line. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a stamping part offline system to improve the operating efficiency of stamping parts offline.

[0005] The specific technical solutions are as follows:

[0006] The embodiment of the present application first provides a stamping part offline system, the system comprising: a robot control end, a production control end, a gripping mechanical arm arranged at a stamping part offline station, and a plurality of handling robots; wherein:

[0007] The robot control end is used to determine the number of empty racks to be transported according to the number of stamping parts currently required to be produced by the production task and the capacity of the racks; according to the currently determined number of empty racks to be transported, control the transport robot to transport the empty racks from the rack storage area to the receiving area corresponding to the stamping part offline station; and control the transport robot to transport the fully loaded racks in the receiving area to the stamping part storage area;

[0008] The production control end is used to control the stamping parts production line to produce stamping parts;

[0009] The grabbing robot arm is used to grab the stamping parts that have been produced and transferred to the stamping parts offline station and put them into the material rack that is located in the receiving area and is not fully loaded;

[0010] Each transport robot is used to perform a transport task under the control of the robot control terminal.

[0011] Optionally, the production control end is further used to send first information indicating the changed number of the indicated stamping parts to the robot control end when the number of stamping parts indicated by the production task changes;

[0012] The robot control end is also used to update the number of empty racks to be transported based on the capacity of the racks, the number of empty racks that the transport robot has transported, and the received first information when receiving the first information sent by the production control end.

[0013] Optionally, the receiving area includes: a qualified product receiving area and a failed product receiving area;

[0014] The robot control end is specifically used to control the transport robot to transport the empty racks from the rack storage area to the qualified product receiving area according to the currently determined number of empty racks to be transported;

[0015] The production control end is further used to send second information indicating the unqualified products to the robot control end when there are unqualified products in the produced stamping parts;

[0016] The robot control end is further used to control the transport robot to transport the empty racks from the rack storage area to the defective product receiving area when it is determined that an empty rack for loading defective products needs to be replenished according to the received second information;

[0017] The grabbing robot arm is specifically used to grab the defective products transmitted to the stamping part offline station and put them into the rack located in the defective product receiving area and not fully loaded; and to grab the qualified stamping parts transmitted to the stamping part offline station and put them into the rack located in the qualified product receiving area and not fully loaded.

[0018] Optionally, the system also includes: a first image acquisition device, which is used to follow the stamped part at the speed at which the stamped part is transmitted by the stamping part production line when the stamped part is located at the initial position and the stamped part produced reaches the designated inspection position of the stamping part production line, and to acquire the image of the stamped part during the movement, until the first image acquisition device moves to the end position and returns to the initial position; and determine whether the stamped part is a qualified product based on the acquired image.

[0019] Optionally, the first image acquisition device is specifically used to acquire images of various parts of the stamping part during the movement.

[0020] Optionally, the first image acquisition device is specifically used to:

[0021] Extracting image features of the collected stamping parts images based on a preset machine learning model as features to be utilized;

[0022] In the case where the image features of qualified products are recorded in a preset image feature library, if the feature to be used matches the image feature of the qualified product, the stamping part in the collected image is determined to be a qualified product; if the feature to be used does not match the image feature of the qualified product, the stamping part in the collected image is determined to be a non-qualified product; wherein the image features in the image feature library are obtained by extracting features from the image of the stamping part based on the machine learning model;

[0023] In the case where the image features of qualified products and the image features of unqualified products are recorded in a preset image feature library, if the feature to be used does not match the image features of the unqualified products, but matches the image features of the qualified products, then the stamping part in the captured image is determined to be a qualified product; if the feature to be used matches the image features of the unqualified products, then the stamping part in the captured image is determined to be an unqualified product; if the feature to be used does not match the image features of the unqualified products, and does not match the image features of the qualified products, then manual inspection is prompted, and a manually added label indicating whether the stamping part in the captured image is qualified is obtained, and the image features of the stamping part and the label are recorded in the image feature library accordingly.

[0024] Optionally, the handling robot includes: a forklift robot.

[0025] Optionally, the handling robot further comprises: a lurking fork-picking robot;

[0026] The robot control end is specifically used to control the forklift robot to transport the empty racks from the rack storage area to the empty rack docking area according to the currently determined number of empty racks to be transported, and to control the latent fork-picking robot to transport the empty racks from the empty rack docking area to the receiving area; control the latent fork-picking robot to transport the fully loaded racks to the full rack docking area, and control the forklift robot to transport the fully loaded racks from the full rack docking area to the stamping parts storage area.

[0027] Optionally, the robot control end is also used to control the forklift robot to stack the transported racks when the forklift robot carrying fully loaded racks reaches the stamping parts storage area.

[0028] Optionally, the robot control end is also used to control the forklift robot to destacker the stacked racks when there is a demand for delivery of stamped parts, and to transport the destackered racks carrying the stamped parts to the demand end of the stamped parts.

[0029] Optionally, the system further comprises: a first rack detection device disposed on a route from the rack storage area to the receiving area;

[0030] The first rack detection device is used to detect the type of each rack carried by the transport robot on the route to the receiving area, and send the detected rack type to the robot control end;

[0031] The robot control end is also used to control the transport robot that transports the rack to stop moving toward the receiving area when the type of the rack detected by the first rack detection device is not a specified type, and control the transport robot to transport empty racks from the area where the specified type of racks are stored in the rack storage area to the receiving area; wherein the specified type is the type of rack used to load the stamping parts currently being produced.

[0032] Optionally, the system further comprises: a second image acquisition device;

[0033] The second image acquisition device is used to acquire the image of the stamping part at the stamping part offline station, and guide the grasping robot arm to grasp the stamping part to the material rack in the receiving area based on the acquired image.

[0034] Optionally, the system further comprises: a second rack detection device;

[0035] The second rack detection device is used to detect the type of racks arriving at the receiving area and send the detected rack type to the robot control end;

[0036] The robot control end is also used to control the transport robot that transports the rack to move the rack away from the receiving area when the type of the rack detected by the second rack detection device is not a specified type, and control the transport robot to transport an empty rack from an area in the rack storage area where racks of the specified type are stored to the receiving area; wherein the specified type is the type of rack used to load the stamping parts currently being produced.

[0037] Beneficial effects of the embodiments of the present application:

[0038] The stamping parts offline system provided by the present solution, with the cooperation of the robot control end, the production control end, the grabbing robot arm arranged at the stamping parts offline station, and multiple handling robots, the production control end controls the stamping parts production line to produce stamping parts, and the robot control end can determine the number of empty racks to be transported according to the number of stamping parts currently required to be produced by the production task during the production of stamping parts, and then control the robot to transport the empty racks that meet the number required for production to the receiving area corresponding to the offline station; the grabbing robot arm can grab the produced stamping parts to the racks that are located in the receiving area and are not fully loaded; the handling robot can also transport the fully loaded racks in the receiving area to the stamping parts storage area, thereby realizing unmanned stamping parts offline operation and improving the operation efficiency of stamping parts offline.

[0039] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0041] Figure 1 A schematic diagram of the structure of a stamping part offline system provided in an embodiment of the present application;

[0042] Figure 2 Another structural schematic diagram of the stamping parts offline system provided in the embodiment of the present application;

[0043] Figure 3 A schematic diagram of a first image acquisition device following the movement of the stamping part provided in an embodiment of the present application;

[0044] Figure 4 A flow chart of a stamping parts offline system provided in an embodiment of the present application;

[0045] Figure 5 Another flow chart of the stamping parts offline system provided in the embodiment of the present application;

[0046] Figure 6 This is another structural schematic diagram of the stamping parts offline system provided in the embodiment of the present application. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0048] In order to improve the working efficiency of stamping parts offline, the embodiment of the present application provides a stamping parts offline system, which may include: a robot control end, a production control end, a gripping robot arm arranged at the stamping parts offline station, and a plurality of handling robots; wherein:

[0049] The robot control end is used to determine the number of empty racks to be transported according to the number of stamping parts currently required to be produced by the production task and the capacity of the racks; according to the currently determined number of empty racks to be transported, control the transport robot to transport the empty racks from the rack storage area to the receiving area corresponding to the stamping part offline station; and control the transport robot to transport the fully loaded racks in the receiving area to the stamping part storage area;

[0050] The production control end is used to control the stamping production line to produce stamping parts;

[0051] The grabbing robot arm is used to grab the stamping parts that have been produced and transferred to the stamping parts offline station and put them into the material rack that is not fully loaded in the receiving area;

[0052] Each transport robot is used to perform a transport task under the control of the robot control terminal.

[0053] In this embodiment, under the cooperation of the robot control end, the production control end, the grasping mechanical arm set at the stamping parts offline station, and multiple handling robots, the production control end controls the stamping parts production line to produce stamping parts, and the robot control end can determine the number of empty racks to be transported according to the number of stamping parts currently required to be produced by the production task during the production of stamping parts, and then control the robot to transport the empty racks that meet the number required for production to the receiving area corresponding to the offline station; the grasping mechanical arm can grab the produced stamping parts to the racks that are located in the receiving area and are not fully loaded; the handling robot can also transport the fully loaded racks in the receiving area to the stamping parts storage area. This solution realizes unmanned stamping parts offline operation, thereby improving the operation efficiency of stamping parts offline.

[0054] The stamping parts offline system provided in the embodiment of the present application is introduced below in conjunction with the accompanying drawings.

[0055] like Figure 1 As shown, the stamping parts offline system may include: a robot control terminal 101, a production control terminal 102, a gripping robot arm 103 disposed at the stamping parts offline station, and a plurality of handling robots 104; wherein:

[0056] The robot control terminal 101 is used to determine the number of empty racks to be transported according to the number of stamping parts currently required to be produced by the production task and the capacity of the racks; according to the currently determined number of empty racks to be transported, control the transport robot 104 to transport the empty racks from the rack storage area to the receiving area corresponding to the stamping part offline station; and control the transport robot 104 to transport the fully loaded racks in the receiving area to the stamping part storage area;

[0057] The production control terminal 102 is used to control the stamping production line to produce stamping parts;

[0058] The robot control terminal 101 may be an electronic device with information transmission and processing functions, such as a computer, a server, etc. The production control terminal 102 may also be an electronic device with information transmission and processing functions. In a specific scenario, the production control terminal 102 may be a production line information system, such as MES (Manufacturing Execution System) or MOM (Manufacturing Operation Management), etc. The robot control terminal 101 and the production control terminal 102 may be connected to each other by wired connection, such as by data transmission line, or by wireless connection, such as by WLAN (Wireless Local Area Network) or 5G (fifth generation data transmission technology), so as to facilitate information exchange between the two.

[0059] In order to facilitate the movement of the transport robot 104, the connection between the robot control end 101 and the transport robot 104 can be a wireless connection. And the robot control end 101 can periodically obtain the status information of each managed transport robot 104 through heartbeat detection, such as the position of the transport robot 104, whether it is idle (i.e., whether it is performing a transport task), etc.

[0060] The number of stamping parts currently required to be produced for the production task can be set directly by the staff at the robot control end 101. Alternatively, the number can also be set directly by the staff at the production control end 102, and then sent by the production control end 102 to the robot control end 101. The stamping part off-line station can be the part of the stamping part production line used to off-line the produced stamping parts. The receiving area corresponding to the stamping part off-line station can be an area demarcated near the stamping part off-line station, and the receiving area can accommodate a single or multiple racks. For example, the receiving area can include multiple parking points, each parking point is used to accommodate a rack. The stamping part storage area can be a factory warehouse. If the number of racks that the receiving area can accommodate (hereinafter referred to as the number that the receiving area can accommodate) is less than the number of empty racks currently to be transported, the robot control end 101 can first control the robot to transport the number of racks that the receiving area can accommodate to the receiving area. When the fully loaded racks in the receiving area are transported away, the robot can be controlled to transport the newly transported empty racks to the receiving area until the number of empty racks transported to the receiving area reaches the number determined according to the production task.

[0061] It can be understood that the number of empty racks to be transported can be determined based on the ratio of the number of stamping parts currently required to be produced to the capacity of the rack. For example, if the number of stamping parts required to be produced is 900 and the capacity of a single rack is 30, the number of empty racks to be transported is 30. Then the robot control end 101 can select an idle handling robot 104 to transport 30 empty racks to the receiving area corresponding to the stamping part offline station. After the handling robot 104 transports the empty racks to the receiving area corresponding to the stamping part offline station, the handling robot 104 can place the empty racks in the receiving area and then drive away to perform other handling tasks. When there are fully loaded racks in the receiving area, the robot control end 101 will select an idle handling robot 104 to go to the receiving area to transport the fully loaded racks to the stamping part storage area. Currently, the transport robot 104 can also transport the empty material rack to the receiving area corresponding to the stamping part offline station, wait in the receiving area until the transported material rack is fully loaded, and then transport the material rack to the stamping part storage area. When selecting an idle transport robot 104, the robot control end 101 can give priority to the transport robot 104 that is closest to the material rack to be transported, or the transport robot 104 with the highest power.

[0062] In addition, after production stops, if there are partially loaded racks in the receiving area, the robot control terminal 101 can also control the transport robot 104 to transport the partially loaded racks to the stamping parts storage area.

[0063] The grabbing robot arm 103 is used to grab the stamping parts that have been produced and transferred to the stamping parts offline station and put them into the material rack that is located in the receiving area and is not fully loaded;

[0064] A visual camera may be provided on the grasping mechanical arm 103, specifically a 3D (Dimensions) visual camera, etc., to guide the grasping mechanical arm 103 to grasp the stamping parts. According to the layout of the factory, the grasping mechanical arm 103 may be single or multiple. In the case of multiple grasping mechanical arms 103, each grasping mechanical arm 103 may alternately grasp the stamping parts into the material rack.

[0065] For each rack, the gripper arm 103 can determine whether the rack is fully loaded according to the number of stamping parts grabbed from the rack and the capacity of the rack. For example, if the capacity of the rack is 30 pieces, the gripper arm 103 can determine that the rack is fully loaded after grabbing 30 stamping parts from the rack. When determining that the rack is fully loaded, the gripper arm 103 can send information indicating that the rack is fully loaded to the robot control end 101, so that the robot control end 101 can subsequently control the robot to transport the rack away from the receiving area.

[0066] Each transport robot 104 is used to perform a transport task under the control of the robot control terminal 101 .

[0067] Currently, when stamping parts come off the production line, they need to be packed manually, that is, the stamping parts are manually grabbed into the material rack, and then the fully loaded material rack is transported to the stamping parts storage area by a forklift manually. This requires a lot of manpower and high technical requirements for the forklift.

[0068] In this embodiment, under the cooperation of the robot control end 101, the production control end 102, the grabbing mechanical arm 103 set at the stamping parts offline station, and multiple handling robots 104, the production control end 102 controls the stamping parts production line to produce stamping parts. In the process of producing stamping parts, the robot control end 101 can determine the number of empty racks to be transported according to the number of stamping parts currently required to be produced by the production task, and then control the robot to transport the empty racks that meet the number required for production to the receiving area corresponding to the offline station; the grabbing mechanical arm 103 can grab the produced stamping parts to the racks that are located in the receiving area and are not fully loaded; the handling robot 104 can also transport the fully loaded racks in the receiving area to the stamping parts storage area. This solution realizes unmanned stamping parts offline operation, thereby improving the operating efficiency of stamping parts offline. In addition, it can also reduce the safety risks of personnel carrying racks and reduce the labor costs of operators.

[0069] In one embodiment of the present application, the production control end 102 is further used to send first information indicating the changed number of the indicated stamping parts to the robot control end 101 when the number of stamping parts indicated by the production task changes;

[0070] The robot control terminal 101 is also used to update the number of empty racks to be transported based on the capacity of the racks, the number of empty racks that have been transported by the transport robot 104, and the received first information when receiving the first information sent by the production control terminal 102.

[0071] The change in the number of stampings indicated by the production task may be due to the adjustment of the production plan of the stampings. For example, the number of stampings to be produced may be increased or reduced. When the production plan needs to be adjusted, the staff can modify the number of stampings to be produced at the production control terminal 102. Furthermore, the production control terminal 102 can send the first information indicating the changed number of indicated stampings to the robot control terminal 101. It is understandable that the first information can be the changed number of stampings to be produced, including a reduced number or an increased number. The first information can also be the total number of stampings to be produced after the change.

[0072] When the robot control end 101 receives the first information, the number of empty racks to be transported can be updated according to the first information, the capacity of the racks, and the number of empty racks that have been transported by the control handling robot 104. For example, the initial production plan for stamping parts is 900 pieces, the capacity of a single rack is 30 pieces, and the robot control end 101 has controlled the handling robot 104 to transport 20 racks to the receiving area. At this time, the number of empty racks to be transported is 10. If the robot control end 101 receives the first information at this time, and the first information indicates that the stamping parts to be produced have increased by 300 pieces, the robot control end 101 can determine that the number of empty racks to be transported is 20.

[0073] In one case, if the first information indicates that the number of stamping parts to be produced is reduced, and the total capacity of the racks currently transported to the receiving area is greater than the number of stamping parts to be produced after the reduction, the robot control end 101 can determine that the current number of empty racks to be transported is 0, that is, there is no need to transport empty racks to the receiving area at present.

[0074] In this embodiment, unmanned stamping parts offline operation can be realized, thereby improving the operation efficiency of stamping parts offline. Furthermore, through the interaction between the robot control terminal 101 and the production control terminal 102, the problem of real-time adjustment of the number of empty racks to be transported in the existing stamping parts offline process is solved, that is, the number of empty racks to be transported can be automatically adjusted in real time according to the adjustment of the production plan, further improving production efficiency.

[0075] In one embodiment of the present application, the receiving area includes: a qualified product receiving area and a non-qualified product receiving area. For example, the receiving area may include 10 areas for accommodating racks, of which 9 are used to accommodate racks loaded with qualified products and 1 is used to accommodate racks loaded with non-qualified products.

[0076] The robot control terminal 101 is specifically used to control the transport robot 104 to transport the empty racks from the rack storage area to the qualified product receiving area according to the currently determined number of empty racks to be transported;

[0077] The production control terminal 102 is also used to send second information indicating the unqualified products to the robot control terminal 101 when there are unqualified products in the produced stamping parts;

[0078] The robot control terminal 101 is further used to control the transport robot 104 to transport the empty racks from the rack storage area to the defective product receiving area when it is determined that an empty rack for loading defective products needs to be replenished according to the received second information;

[0079] Each time a defective product is detected, the production control end 102 can send the second information to the robot control end 101 once, so that the robot control end 101 can determine the number of defective products according to the number of times the second information is received, and further determine the number of empty racks for loading defective products. Of course, it is not limited to this, for example, the second information can also be the number of defective products.

[0080] In one implementation, since the probability of defective products is low, the robot control end 101 can first control the robot to carry empty racks for loading qualified products. When the second information indicating defective products is received for the first time, the robot control end 101 can determine that it is necessary to replenish empty racks for loading defective products, and then control the robot to carry the first empty rack to the defective product receiving area. When the empty rack is fully loaded, the handling robot 104 can be controlled to transport the rack away to the defective product storage area. After that, when the second information is received next time, the robot control end 101 can control the robot to carry the empty rack to the defective product receiving area again.

[0081] For example, the production plan for stamping part A is 900 pieces, and the capacity of a single rack is 30 pieces. When the actual production reaches the 100th piece, one defective product appears. Then the robot control end 101 can determine that 27 empty racks are needed and generate an additional rack for loading defective products.

[0082] In order to detect whether the stamping parts are qualified or unqualified, as shown in 2, the stamping parts offline system may also include: a first image acquisition device 105, which is used to acquire images of the stamping parts produced, and then determine whether the stamping parts are qualified products based on the acquired images. Specifically, in one implementation, the first image acquisition device 105 can be located at the initial position and the stamping parts produced reach the designated detection position of the stamping parts production line. According to the speed at which the stamping parts are transmitted by the stamping parts production line, the first image acquisition device 105 follows the movement of the stamping parts, and acquires images of the stamping parts during the movement, until the first image acquisition device 105 moves to the end position and returns to the initial position; determine whether the stamping parts are qualified products based on the acquired images.

[0083] like Figure 3 As shown, when the stamping part produced reaches the designated detection position i, the first image acquisition device 105 can start to move from the initial position at a speed v following the stamping part until the first image acquisition device 105 moves to the end position, and accordingly, the stamping part reaches the end detection position j. A conveyor belt can be provided in the stamping part production line to transfer the stamping parts produced to the stamping part offline station. A robotic arm can be provided near the conveyor belt to control the first image acquisition device 105 to move following the stamping part.

[0084] In order to detect whether there is a stamping part at the designated detection position, a photoelectric sensor can be set at the designated detection position. Alternatively, the first image acquisition device 105 can acquire images at the designated detection position in real time and perform target detection on the acquired images to determine whether there is a stamping part at the designated detection position.

[0085] This embodiment controls the first image acquisition device 105 to follow the movement of the stamped parts according to the speed of the stamped parts production line, and acquires the image of the stamped parts during the movement. In this way, the stamped parts can be inspected without stopping the transmission of the stamped parts, thereby further improving the production efficiency of the stamped parts.

[0086] Furthermore, the first image acquisition device 105 is specifically used to acquire images of various parts of the stamping part during the movement. Since some stamping parts have a complex structure, defects may appear in various parts of the stamping part. Therefore, in order to detect more accurately, images of various parts of the stamping part can be acquired for detection. For example, images of the stamping part can be acquired from the top, left side, and right side of the stamping part, respectively, to obtain images of various parts of the stamping part. In specific implementation, a moving path can be set for the part of the stamping part to be detected as needed, and the mechanical arm that controls the first image acquisition device 105 can carry the first image acquisition device 105 and move according to the set moving path whenever the stamping part reaches the designated detection position, so that the first image acquisition device 105 can acquire images of different parts of the stamping part from multiple angles.

[0087] In this case, the grabbing robot arm 103 is specifically used to grab the defective products transmitted to the stamping part offline station and put them into a rack that is located in the defective product receiving area and is not fully loaded; and to grab the qualified stamping parts transmitted to the stamping part offline station and put them into a rack that is located in the qualified product receiving area and is not fully loaded.

[0088] When the first image acquisition device 105 detects the inspection result of the currently produced stamping part (the inspection result indicates whether the stamping part is a qualified product or a defective product), the inspection result can be sent to the grasping mechanical arm 103, or the inspection result can be sent to the production control terminal 102, and then the production control terminal 102 sends the inspection result to the grasping mechanical arm 103. Therefore, the grasping mechanical arm 103 can grasp the stamping part to a material rack located in the qualified product receiving area and not fully loaded when the current stamping part is a qualified product, and grasp the stamping part to a material rack located in the defective product receiving area and not fully loaded when the current stamping part is a defective product.

[0089] At present, the quality inspection of stamping parts when they come off the production line is generally judged by staff through observation and touch, which requires a lot of manpower and high technical requirements, and the consistency of inspection standards is not good. There is also a risk of wrong inspection and missed inspection. By using the first image acquisition device 105 to detect whether the stamping parts are qualified, the labor cost of the quality inspection process can be further reduced, the inspection efficiency can be improved, and the consistency of the inspection standards can be improved, which can also reduce the risk of wrong inspection and missed inspection.

[0090] In one implementation, the first image acquisition device 105 is specifically configured to:

[0091] In the case where the image features of qualified products are recorded in the preset image feature library, if the features to be used match the image features of qualified products, the stamping part in the collected image is determined to be a qualified product; if the features to be used do not match the image features of qualified products, the stamping part in the collected image is determined to be a defective product; wherein the image features in the image feature library are obtained by extracting features from the images of stamping parts based on a machine learning model;

[0092] The above-mentioned preset machine learning model can be any machine learning model that extracts features from images, for example, it can be a CNN (Convolutional Neural Networks) model. In one implementation, the machine learning model can also be trained based on the image of the sample stamping parts and the actual quality inspection results of the sample stamping parts, and the sample stamping parts can include qualified stamping parts and unqualified stamping parts. Specifically, the machine learning model can be connected to a detection head, which is used to output the detection results based on the image features. In this way, the image of the sample stamping parts can be extracted using the machine learning model of the initial structure, and the extracted image features can be input into the detection head to obtain the output detection results, and then the model loss is calculated based on the detection results and the actual quality inspection results, and then the model parameters of the machine learning model of the initial structure are adjusted based on the obtained model loss until the model converges to obtain a trained machine learning model.

[0093] In one implementation, the image features of each part of a qualified stamping part may be recorded in the image feature library. The features to be used may include the image features of each part of the stamping part. In this case, when the image features of each part of the stamping part can match the image features of the part of the stamping part that can be recorded in the image feature library, it can be determined that the features to be used match the image features of the qualified product, otherwise it is determined that the features to be used do not match the image features of the qualified product.

[0094] In one implementation, when matching features from an image feature library, the similarity between the feature to be used and each feature in the image feature library can be calculated, for example, the cosine distance or the Euclidean distance can be calculated. If there is a feature in the image feature library whose feature similarity with the feature to be used reaches a preset threshold, then it is determined that the feature matches the feature to be used. If there are multiple features whose similarity with the feature to be used reaches the preset threshold, the feature with the highest feature similarity can be determined as the feature that matches the feature to be used.

[0095] In the case where the image features of qualified products and the image features of unqualified products are recorded in a preset image feature library, if the feature to be used does not match the image features of the unqualified products, but matches the image features of the qualified products, then the stamping parts in the captured image are determined to be qualified products; if the feature to be used matches the image features of the unqualified products, then the stamping parts in the captured image are determined to be unqualified products; if the feature to be used does not match the image features of the unqualified products, and does not match the image features of qualified products, then manual inspection is prompted, and a manually added label indicating whether the stamping parts in the captured image are qualified is obtained, and the feature to be used and the label are recorded in the image feature library accordingly.

[0096] In this case, the image feature library can record the image features of each part of the qualified stamping parts, as well as the image features of the defective parts of the unqualified stamping parts.

[0097] For any part of the stamping part, if the image features of the image of the part match the image features of the unqualified products in the part in the image feature library, it can be determined that the feature to be used matches the image features of the unqualified product; if the image features of the image of each part of the stamping part do not match the image features of the unqualified products in the part in the image feature library, it can be determined that the feature to be used does not match the image features of the unqualified product.

[0098] In this embodiment, it can be determined whether the feature to be used matches the image feature of the unqualified product. If they match, it is determined that the stamping part is an unqualified product. If they do not match, it is determined whether the feature to be used matches the image feature of the qualified product. If it matches the image feature of the qualified product, it can be determined that the stamping part is a qualified product. If it does not match the image feature of the qualified product, it means that the image feature library cannot be used to judge whether the stamping part is qualified. It may be that a new type of unqualified product has appeared. At this time, the first image acquisition device 105 can also notify the staff to perform manual inspection to determine whether the stamping part is qualified, and then obtain the manually added label indicating whether the stamping part in the collected image is qualified, and the image feature of the stamping part and the label are recorded in the image feature library. Specifically, the image features of the local image of the stamping part with defects can be recorded in the image feature library.

[0099] For example, when it is manually determined that the stamping part has defects, images of the defective part of the stamping part can be manually captured, and image features can be extracted using a machine learning model and recorded in an image feature library.

[0100] In addition, the image feature library can also record the type of unqualified parts, where the unqualified type can refer to the type of defects such as deformation, wear, cracking, etc. of the stamping parts that cause the stamping parts to be unqualified, so that the first image acquisition device 105 can have the ability to determine the unqualified type of the unqualified stamping parts.

[0101] By continuously adding image features and labels of unqualified stamping parts to the image feature library, the results of the first image acquisition device 105 detecting stamping parts can be made more and more accurate.

[0102] In this embodiment, unmanned stamping parts offline operation can be realized, which improves the operation efficiency of stamping parts offline. Further, when there are defective products in the stamping parts produced, the production control terminal 102 sends the second information indicating the defective products to the robot control terminal 101. The robot control terminal 101 is also used to control the handling robot 104 to carry the empty racks from the rack storage area to the defective product receiving area when it is determined that the empty racks for loading defective products need to be supplemented according to the received second information; the gripping mechanical arm 103 is specifically used to grab the defective products transmitted to the stamping parts offline station to the racks located in the defective product receiving area and not fully loaded; and to grab the qualified stamping parts transmitted to the stamping parts offline station to the racks located in the qualified product receiving area and not fully loaded. It is possible to adjust the number of empty racks to be transported in real time according to the defective products that appear in the production process, and by cooperating with the gripper robot 103, it is possible to automatically load qualified products and defective products into different racks.

[0103] In one embodiment of the present application, the transport robot 104 includes: a forklift robot (FMR, Forklift Mobile Robot). The robot control terminal 101 is also used to control the forklift robot to stack the transported racks when the forklift robot carrying the fully loaded racks reaches the stamping parts storage area; when there is a demand for the delivery of stamping parts, control the forklift robot to destacker the stacked racks and transport the destackered racks carrying stamping parts to the demand end of the stamping parts.

[0104] The demand side of stamping parts can be a post-process production line for subsequent processing of stamping parts. The robot control end 101 can control the forklift robot to stack the racks transported to the stamping parts storage area, which can improve the utilization rate of the storage area. Furthermore, when there is a demand for stamping parts in the post-process, the robot control end 101 can control the forklift robot to destacker the stacked racks and transport the destackered racks carrying stamping parts to the demand side of stamping parts.

[0105] In this case, the workflow of this embodiment can be as follows: Figure 4 As shown:

[0106] S401, production line box change;

[0107] That is, the robot control terminal 101 controls the forklift robot to transport the fully loaded racks out of the receiving area and transport the empty racks to the receiving area;

[0108] S402, full container off the line;

[0109] That is, the robot control terminal 101 controls the forklift robot to transport the fully loaded racks from the receiving area to the stamping parts storage area;

[0110] S403, empty container goes online;

[0111] That is, the robot control terminal 101 controls the forklift robot to move the empty racks from the rack storage area to the receiving area;

[0112] S404, full containers are put into storage and stacked;

[0113] That is, the robot control terminal 101 controls the forklift robot to stack the racks transported to the stamping parts storage area;

[0114] S405, unpacking full boxes and preparing materials;

[0115] That is, when there is a demand for the delivery of stamping parts, the robot control terminal 101 controls the forklift robot to destacker the stacked racks;

[0116] S406, post-process delivery;

[0117] That is, the robot control end 101 controls the forklift robot to move the rack containing the stamped parts after being depalletized to the demand end of the stamped parts.

[0118] In this embodiment, unmanned stamping parts offline operation can be realized, which improves the operation efficiency of stamping parts offline. Furthermore, the robot control end controls the forklift robot to stack the transported racks, and when there is a demand for the delivery of stamping parts, the forklift robot is controlled to destacking the stacked racks, that is, in the stamping parts storage area, the racks are separated from the stacked state, and then the racks carrying stamping parts after destacking are transported to the demand side of the stamping parts, which can realize the automatic stacking and destacking of the racks, improve the utilization rate of the storage area of ​​the stamping parts storage area, and greatly reduce the number of people who need to destacking and deliver the racks of stamping parts.

[0119] In one embodiment of the present application, the handling robot 104 also includes: a latent fork-picking robot, namely, a latent fork AMR (Autonomous Mobile Robot); in this case, the robot control terminal 101 is specifically used to control the forklift robot to transport the empty racks from the rack storage area to the empty rack docking area according to the currently determined number of empty racks to be transported, and control the latent forklift robot to transport the empty racks from the empty rack docking area to the receiving area; control the latent forklift robot to transport the fully loaded racks to the full rack docking area, and control the forklift robot to transport the fully loaded racks from the full rack docking area to the stamping parts storage area.

[0120] According to the layout requirements of the factory, the empty rack docking area and the full rack docking area can be the same area or different areas. In order to improve the handling efficiency, the empty rack docking area and the full rack docking area can be the same area or adjacent areas. The forklift robot can be used only to transport the empty racks to the empty rack docking area, and to transport the fully loaded racks in the full rack docking area to the stamping parts storage area, and to stack the transported racks in the stamping parts storage area. The height of the latent fork-picking robot is relatively low and cannot perform stacking operations, but the latent fork-picking robot is more flexible and has higher handling efficiency. Therefore, the latent fork-picking robot can be used only to transport empty racks from the empty rack docking area to the receiving area, and to transport fully loaded racks from the receiving area to the full rack docking area, thereby improving the handling efficiency of this process. Through the mutual cooperation between the latent fork-picking robot and the forklift robot, the handling efficiency can be taken into account and the stacking operation of the racks can be realized.

[0121] In addition, the lurking fork-picking robot itself has a fork. When the lurking fork-picking robot moves to the vicinity of the material rack, it can directly fork the material rack and transport it away without drilling into the bottom of the material rack. In this way, when the material rack for loading stamping parts is short, the lurking fork-picking robot can also realize the transportation of the material rack. The traditional lurking robot does not have a fork, and a single-layer shelf needs to be set on the lurking robot to load the stamping parts material rack. The lurking fork-picking robot used in this embodiment is more flexible and can eliminate the need for a single-layer shelf, thereby reducing production costs.

[0122] In this case, the workflow of this embodiment can be as follows: Figure 5 As shown:

[0123] S501, production line box change;

[0124] That is, the robot control terminal 101 controls the latent fork-picking robot to transport the fully loaded racks out of the receiving area and transport the empty racks to the receiving area, thereby realizing the box change of the stamping production line.

[0125] S502, the lurking fork-picking robot carries the goods offline;

[0126] That is, the robot control terminal 101 controls the latent fork-picking robot to carry the fully loaded racks to the full rack docking area.

[0127] S503, docking at the docking area;

[0128] That is, the robot control end 101 controls the latent fork-picking robot to move the fully loaded racks to the full rack docking area; and controls the forklift robot to move the empty racks from the rack storage area to the empty rack docking area.

[0129] S504, full-empty exchange;

[0130] That is, the robot control end 101 controls the latent fork-picking robot to place the fully loaded rack in the full rack docking area, and then controls the latent fork-picking robot to carry the empty rack from the empty rack docking area; and the control end controls the forklift robot to place the empty rack in the empty rack docking area, and then controls the forklift robot to carry the fully loaded rack from the full rack docking area;

[0131] S505, empty container goes online;

[0132] That is, the robot control terminal 101 controls the latent fork-picking robot to transport the empty material rack to the receiving area.

[0133] S506, full containers are put into storage and stacked;

[0134] That is, the robot control terminal 101 controls the forklift robot to move the fully loaded racks to the stamping parts storage area and stack them.

[0135] S507, empty container outbound transfer;

[0136] That is, the robot control terminal 101 controls the forklift robot to move the empty racks from the rack storage area;

[0137] S508, material preparation in the docking area;

[0138] That is, the robot control terminal 101 controls the forklift robot to move the empty racks from the rack storage area to the empty rack docking area;

[0139] S509, lurking fork-picking robot delivery return;

[0140] That is, the robot control terminal 101 controls the latent fork-picking robot to carry the empty material rack from the empty material rack docking area to the receiving area;

[0141] S510, forklift robot returns to empty;

[0142] That is, the robot control terminal 101 controls the forklift robot to move the empty racks from the rack storage area to the empty rack docking area.

[0143] During the production process, the above process can be repeated until the number of empty racks transported to the receiving area reaches the number required by the production task, and all the generated stamping parts are transported to the stamping part storage area.

[0144] In this embodiment, unmanned stamping parts offline operation can be realized, which improves the operation efficiency of stamping parts offline. Furthermore, the handling robot also includes: a forklift robot and a latent fork-picking robot; the robot control end controls the forklift robot to transport the empty racks from the rack storage area to the empty rack docking area according to the currently determined number of empty racks to be transported, and controls the latent fork-picking robot to transport the empty racks from the empty rack docking area to the receiving area; and controls the latent fork-picking robot to transport the fully loaded racks to the full rack docking area, and controls the forklift robot to transport the fully loaded racks from the full rack docking area to the stamping parts storage area. Through the mutual cooperation between the latent fork-picking robot and the forklift robot, this solution can take into account the efficiency of handling, realize the automatic stacking of the racks, and save storage area.

[0145] In one embodiment of the present application, Figure 2 As shown, the stamping parts offline system further includes: a first rack detection device 106 arranged on the route from the rack storage area to the receiving area;

[0146] The first rack detection device 106 is used to detect the type of each rack carried by the transport robot 104 on the route to the receiving area, and send the detected rack type to the robot control terminal 101;

[0147] Since the sizes and shapes of stamping parts produced by different production lines are different, different stamping parts may require different racks for loading. In one implementation, the first rack detection device 106 can be set at a specified position on the route from the rack storage area to the receiving area to detect the type of rack passing through the specified position. There can be many ways to detect the type of rack. For example, a radio frequency tag can be set in the rack, and the first rack detection device 106 can parse the information carried by the radio frequency tag of the rack to determine the type of rack.

[0148] Alternatively, the first rack detection device 106 may also be a smart camera provided with a classification model, and the classification model may be a neural network model trained based on the sample racks and the real labels corresponding to the sample racks. In this way, the first rack detection device 106 may first collect images of the racks carried by the handling robot 104 on the route, and then input the collected images into the classification model to determine the type of the racks.

[0149] The robot control terminal 101 is also used to control the transport robot 104 that transports the rack to stop moving toward the receiving area when the type of the rack detected by the first rack detection device 106 is not a specified type, and control the transport robot 104 to transport empty racks from an area in the rack storage area where racks of the specified type are stored to move to the receiving area; wherein the specified type is the type of rack used to load the stamping parts currently being produced.

[0150] When the type of the rack is not the specified type, it indicates that the handling robot 104 has carried the wrong rack, and a rack of the correct type needs to be added to the receiving area. Therefore, the handling robot 104 carrying the rack can be controlled to stop moving to the receiving area, and the handling robot 104 can be controlled to carry an empty rack from the area storing the specified type of racks in the rack storage area to the receiving area. In one implementation, the robot control end 101 can obtain the position information of the handling robot 104 in real time, and when it receives the type of the rack sent by the first rack detection device 106, it can determine that the handling robot 104 currently at the above-mentioned specified position is a handling robot that has carried the wrong rack.

[0151] The robot control terminal 101 can also send an error message to the staff when determining that the type of the rack is not the specified type, for example, the error message can be displayed on a display screen used to display information in the factory, so that the staff can quickly go to the site to solve the error.

[0152] In this embodiment, unmanned stamping parts offline operation can be realized, which improves the operating efficiency of stamping parts offline. Furthermore, the stamping parts offline system also includes a first rack detection device arranged on the route from the rack storage area to the receiving area, which is used to detect the type of each rack carried by the handling robot on the route to the receiving area, and send the type of the detected rack to the robot control end; the robot control end, when the type of the rack detected by the first rack detection device is not the specified type, controls the handling robot carrying the rack to stop moving to the receiving area, and controls the handling robot to carry empty racks from the area storing the specified type of racks in the rack storage area to the receiving area. Through this solution, it is possible to automatically detect whether the handling robot has carried the wrong rack, avoid placing the wrong rack in the receiving area, and in the case of carrying the wrong rack, timely replenish the receiving area with the correct type of rack.

[0153] In one embodiment of the present application, Figure 6 As shown, the system may further include: a second image acquisition device 107;

[0154] The second image acquisition device 107 is used to acquire the image of the stamping part at the stamping part offline station, and guide the grasping robot arm to grasp the stamping part to the material rack in the receiving area based on the acquired image.

[0155] The second image acquisition device 107 can be set on the grasping robot arm 103. The second image acquisition device 107 can be a visual camera, specifically a 3D (Dimensions) visual camera, etc., which is used to capture images of stamping parts at the stamping part offline workstation to guide the grasping robot arm 103 to grasp the stamping parts.

[0156] In one embodiment of the present application, the system may further include: a second rack detection device 108;

[0157] The second rack detection device 108 is used to detect the type of racks arriving at the receiving area and send the detected rack type to the robot control terminal 101;

[0158] The second rack detection device 108 can be set at the stamping part offline station or the receiving area. The second rack detection device 108 can detect the type of the rack in a similar way to the first rack detection device 106. In one implementation, the second rack detection device 108 can be the above-mentioned second image acquisition device 107, that is, the second rack detection device 108 is also an image acquisition device, and the function of guiding the grasping mechanical arm 103 to grasp the parts and the function of detecting the type of the rack can be set in the same image acquisition device. Of course, the second image acquisition device 107 and the second rack detection device 108 can also be different devices.

[0159] In this case, the robot control end 101 is also used to control the handling robot 104 that transports the rack to move the rack away from the receiving area when the type of the rack detected by the second rack detection device 108 is not the specified type, and control the handling robot 104 to transport the empty rack from the area where the specified type of racks are stored in the rack storage area to the receiving area; wherein the specified type is the type of rack used to load the stamping parts currently being produced.

[0160] When the type of the rack detected by the second rack detection device 108 is not the specified type, the robot control terminal 101 also sends an error message to the staff, so that the staff can go to the site to solve the error.

[0161] By providing the second rack detection device 108, when the first rack detection device 106 does not detect an erroneous rack, the rack arriving at the receiving area can be further detected to further avoid loading the stamping parts into an erroneous rack.

[0162] In this embodiment, the second image acquisition device 107 acquires images of the stamped parts at the stamped parts offline station to guide the grasping mechanical arm 103 to grasp the stamped parts to the rack in the receiving area, and the grasping mechanical arm 103 can be controlled to grasp the stamped parts to the rack more accurately. The second rack detection device 108 detects the type of racks arriving at the receiving area, which can further avoid loading the stamped parts into the wrong rack.

[0163] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0164] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0165] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0166] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A stamping parts offline system, characterized in that: The system includes: a robot control end, a production control end, a gripping mechanical arm arranged at a stamping part offline station, and a plurality of handling robots; wherein: The robot control end is used to determine the number of empty racks to be transported according to the number of stamping parts currently required to be produced by the production task and the capacity of the racks; according to the currently determined number of empty racks to be transported, control the transport robot to transport the empty racks from the rack storage area to the receiving area corresponding to the stamping part offline station; and control the transport robot to transport the fully loaded racks in the receiving area to the stamping part storage area; The production control end is used to control the stamping parts production line to produce stamping parts; The grabbing robot arm is used to grab the stamping parts that have been produced and transferred to the stamping parts offline station and put them into the material rack that is located in the receiving area and is not fully loaded; Each transport robot is used to perform a transport task under the control of the robot control terminal.

2. The system according to claim 1, characterized in that The production control end is further used to send first information indicating the changed number of the indicated stamping parts to the robot control end when the number of stamping parts indicated by the production task changes; The robot control end is also used to update the number of empty racks to be transported based on the capacity of the racks, the number of empty racks that the transport robot has transported, and the received first information when receiving the first information sent by the production control end.

3. The system according to claim 1, characterized in that The receiving area includes: a qualified product receiving area and a non-qualified product receiving area; The robot control end is specifically used to control the transport robot to transport the empty racks from the rack storage area to the qualified product receiving area according to the currently determined number of empty racks to be transported; The production control end is further used to send second information indicating the unqualified products to the robot control end when there are unqualified products in the produced stamping parts; The robot control end is further used to control the transport robot to transport the empty racks from the rack storage area to the defective product receiving area when it is determined that an empty rack for loading defective products needs to be replenished according to the received second information; The grabbing robot arm is specifically used to grab the defective products transmitted to the stamping part offline station and put them into the rack located in the defective product receiving area and not fully loaded; and to grab the qualified stamping parts transmitted to the stamping part offline station and put them into the rack located in the qualified product receiving area and not fully loaded.

4. The system according to any one of claims 1 to 3, characterized in that: The system also includes: a first image acquisition device, which is used to follow the stamping part at the speed at which the stamping part is transmitted by the stamping part production line when the stamping part is located at the initial position and the stamping part produced reaches the designated inspection position of the stamping part production line, and to acquire an image of the stamping part during the movement, until the first image acquisition device moves to the end position and returns to the initial position; and determine whether the stamping part is a qualified product based on the acquired image.

5. The system according to claim 4, characterized in that The first image acquisition device is specifically used to acquire images of various parts of the stamping part during the movement.

6. The system according to claim 4, characterized in that The first image acquisition device is specifically used for: Extracting image features of the collected stamping parts images based on a preset machine learning model as features to be utilized; In the case where the image features of qualified products are recorded in a preset image feature library, if the feature to be used matches the image feature of the qualified product, the stamping part in the collected image is determined to be a qualified product; if the feature to be used does not match the image feature of the qualified product, the stamping part in the collected image is determined to be a non-qualified product; wherein the image features in the image feature library are obtained by extracting features from the image of the stamping part based on the machine learning model; In the case where the image features of qualified products and the image features of unqualified products are recorded in a preset image feature library, if the feature to be used does not match the image features of the unqualified products, but matches the image features of the qualified products, then the stamping part in the captured image is determined to be a qualified product; if the feature to be used matches the image features of the unqualified products, then the stamping part in the captured image is determined to be an unqualified product; if the feature to be used does not match the image features of the unqualified products, and does not match the image features of the qualified products, then manual inspection is prompted, and a manually added label indicating whether the stamping part in the captured image is qualified is obtained, and the image features of the stamping part and the label are recorded in the image feature library accordingly.

7. The system according to claim 1, characterized in that Handling robots include: forklift robots.

8. The system according to claim 7, characterized in that Handling robots also include: lurking fork-picking robots; The robot control end is specifically used to control the forklift robot to transport the empty racks from the rack storage area to the empty rack docking area according to the currently determined number of empty racks to be transported, and to control the latent fork-picking robot to transport the empty racks from the empty rack docking area to the receiving area; control the latent fork-picking robot to transport the fully loaded racks to the full rack docking area, and control the forklift robot to transport the fully loaded racks from the full rack docking area to the stamping parts storage area.

9. The system according to claim 7 or 8, characterized in that: The robot control end is also used to control the forklift robot to stack the transported material racks when the forklift robot carrying the fully loaded material racks reaches the stamping parts storage area.

10. The system according to claim 9, characterized in that The robot control end is also used to control the forklift robot to destacker the stacked racks when there is a demand for the delivery of stamping parts, and to transport the destackered racks carrying the stamping parts to the demand end of the stamping parts.

11. The system according to claim 1, characterized in that The system further comprises: a first rack detection device disposed on a route from the rack storage area to the receiving area; The first rack detection device is used to detect the type of each rack carried by the transport robot on the route to the receiving area, and send the detected rack type to the robot control end; The robot control end is also used to control the transport robot that transports the rack to stop moving toward the receiving area when the type of the rack detected by the first rack detection device is not a specified type, and control the transport robot to transport empty racks from the area where the specified type of racks are stored in the rack storage area to the receiving area; wherein the specified type is the type of rack used to load the stamping parts currently being produced.

12. The system according to claim 1, characterized in that The system further comprises: a second image acquisition device; The second image acquisition device is used to acquire the image of the stamping part at the stamping part offline station, and guide the grasping robot arm to grasp the stamping part to the material rack in the receiving area based on the acquired image.

13. The system according to claim 1, characterized in that The system further comprises: a second rack detection device; The second rack detection device is used to detect the type of racks arriving at the receiving area and send the detected rack type to the robot control end; The robot control end is also used to control the transport robot that transports the rack to move the rack away from the receiving area when the type of the rack detected by the second rack detection device is not a specified type, and control the transport robot to transport an empty rack from an area in the rack storage area where racks of the specified type are stored to the receiving area; wherein the specified type is the type of rack used to load the stamping parts currently being produced.

Images